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Universal Temperature Controller
AAAAdvanced Control
SSSSimplicity
NNNNetworking
RRRReliability
Copyright© 2010 Yokogawa Electric Corporation All Right ReservedJan, 2010
UTAdvancedLadder Programming((((Advanced))))
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UTAdvanced ladder program 2
Ladder Programming((((Advanced))))
1. Register, Relay- Computation configuration- Input ladder computation- Output ladder computation- Internal device- Power failure action- PID register, relay- Special relay- Peer-to-peer communication register, relay
2. Data type- Relay process- Register process
3. Instruction- Basic instruction- Advanced instruction
4. Training - Training 1 Annunciator circuit- Training 2 Starting circuit using timer
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UTAdvanced ladder program 3
Register, Relay (Computation configuration)
Input process(related control setting parameters)(A(A(A(AI, scaling, DI condition setting)
Control computationPIDPIDPIDPID, alarm setting
Input ladder calculationAnalog input etc is calculated
Output ladder calculationAdditional calculation to PID OUT is programmed
Output process(related to control setting parameters)((((AO, DO setting etc)
PIDPIDPIDPIDPIDPIDPIDPID演算部演算部演算部演算部
User ladder calculationSequence control not related to PID is programmed
1 scan/
control interval
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UTAdvanced ladder program 4
User ladder calculationIn input ladder calculation, user ladder calculation is programmed, which is used for transfer
input process data to PID calculation.� You can make your own input calculation revising, adding to this.
RegisterMain registers: Data after input process is transferred to PID control(AI related of X_PV,X_RSP etc, DI related ofX_DI1 etcDI related �status register such as X000Registers such as X_PV: Scaring data processed in input �can be processed in actual engineering units
Execution orderBefore PID calculation process is executed: Input analog calculation process is programmedInput ladder calculation and transferred to PID control.
Default ladder program (Single loop control)Input ladder calculation block figure
Register, Relay (Input ladder calculation)
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UTAdvanced ladder program 5
Input Ladder Calculation: Analog Input Registers
Input Ladder Calculation: Control Input Registers
Register, Relay (Input ladder calculation)
Data format
Analog inputs:
signed two-byte data of
-19999 to 30000 including
decimal point position
Data format
Calculated results:
signed two-byte data of
-19999 to 30000 including
decimal point position
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UTAdvanced ladder program 6
Input status relay
Register, Relay (Input ladder calculation)
Status registers such as X000:
relay bit (X_DI etc) automatically reflected
0/1 of X_DIxx is decided by setting
parameters of input process.
Default: 1 in case of contact ON
In using input status in ladder program,
Set DI functions (A/M, R/S etc) of Off
From the fault setting, DI function is assigned
Remarks
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UTAdvanced ladder program 7
Default ladder program (single loop program)
Output/User ladder calculation block figure
Default ladder program- Output ladder calculation is programmed in default ladder program, which transfer data after PID calculation to output process.
�User program can be program revising and adding- In user ladder calculation, no default program�is used for sequence control not related to PID RegisterMain registers: PID calculation result such as OUT_CTL,RET_CTL,DOAL etc
transferred to Output terminal (Y_OUT, Y000 etc)(Status data of alarm needs to be transferred to output process)
Execution orderIt is executed after PID calculation: Used for program which needs PID calculation resultLadder calculation is executed after output ladder calculation
Register, Relay (Output calculation, User ladder)
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UTAdvanced ladder program 8
Output Ladder Calculation: Control Computation Registers
Output Ladder Calculation: Output Registers
Data of output process: output followed by control output parameters (4-20mA, 0-20mA etc)
Register, Relay (Output calculation, User ladder)
Data format
Analog inputs:
signed two-byte data of
-19999 to 30000 including
decimal point position
Data format
Calculated results:
signed two-byte data of
-19999 to 30000 including
decimal point position.
Output data:-5.0 - 105.0% .
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UTAdvanced ladder program 9
Control Relays/Control Status Registers Output Relays/Output Status Registers
- Status registers such as Y000 is automatically reflected to relay bit (Y_AL1 etc)- 0/1 status of Y_AL1 and Y_DOxx are output followed by control output setting parameters(Default: 1 �contact)
- At default setting, contact output is interlocked with event display on LED (EV1-EV8) front face.Set the EV1-EV8 accordingly
Register, Relay (Output calculation, User ladder)
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UTAdvanced ladder program 10
For power failure,Holding type is recommended
Register, Relay (Internal Device)
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UTAdvanced ladder program 11
Power Failure Action
Allowable time for instantaneous case 100-240VAC power: within 20ms
24VDC power: within 1ms Normal operation can continue within the above condition.
Less than approx.5 sec More than approx 5sec
Alarm action No alarm output. In case of alarm with wait, it will be wait status
Setting parameter Each parameters setting can be hold
Auto tuning Released
Timer, counter, relay,
Registers (non-holding type)
Initialized
Control actions Action before power failure will be used
Followed by R.MD(restart mode)CONT: Continue action before power failure (default)
MAN: output PO (preset output)* and manual operation
* PO of PID group before power failure
Power failure actions
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UTAdvanced ladder program 12
Register, Relay (Internal Device)
K registers: Fixed register. can be configured by LL50A
P registers: Changeable register. Can be configured by unit operation keys
K, P- Registers
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UTAdvanced ladder program 13
Constant registers: for multiplication/division etc
Register, Relay (Internal Device)
Constant Registers, Timer, Counter
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UTAdvanced ladder program 14
Register (D register), relay (I relay): for PID control by input/output/user ladder programRegister: 16 bit integer. Parameter registers such as process data/operation mode/TSP/AlarmRelay: Alarm status. Operation mode, bar graph, event etc
PID calculation
Ladder program
PID control setting and action switching useby ladder programFor example- Remote/Local switching- SP change
I relay (SW etc)
D register (SP etc)
Register, Relay (PID Calculation)
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UTAdvanced ladder program 15
Special Relays
Read only. For timer, counter, and flicker action
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UTAdvanced ladder program 16
Peer-to-peer communication: Up to 32 UTs connected.
Four units: Send 4 analog data and 16 status data and receive 16 analog data, 64 status data.
Other 28 units: Receive 16 analog data and 64 status data.
Peer-to-peer communication
by the ladder program
Register, Relay (Peer-to-peer communication)
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UTAdvanced ladder program 17
Data Format (Relay Processing)
Relay (Bit) Processing
Bit processing refers to processing that is performed when a bit device is specified
in a basic instruction. It is executed in bits.
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UTAdvanced ladder program 18
Data format (Register Processing)
Data (Register) Processing
When DAT register (floating-point number) is moved to D register (16 bit integer), the decimal point is omitted.
1234.5 → 1235
If you need decimal point, you may use multiply and make it integer.
D-registers: Contain parameter data or process data. 16-bit integers (-19999 to 31500).
Status registers: For example, M1_16 (status registers of internal relays M01 to M16),
DAT registers: Temporary registers to store data during calculations.
Monitor Ladder Program window enables data to be monitored in floating-point numbers
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UTAdvanced ladder program 19
Instruction (Basic Instruction 1/2)
Instruction step Symbol Function
Load 1 A contact
Load Not 1 B contact
And 1 And logic (a contact in parallel)
And Not 1 Not And logical (b contact in parallel)
Or 1 Performs connection in logical OR (“a” contact in parallel)
Or Not 1 Performs connection in NOR (“b” contact in parallel)
And Load 1 Executes logical AND between circuit elements
Or Load 1 Executes logical OR between circuit elements
Out 1 Outputs the previous calculation result
Set
1 Activates a specified device when input is ON
1Activates a specified device when an input changes from
OFF to ON
Reset
1 Deactivates a specified device when input is ON
1Deactivates a specified device when an input changes from OFF to ON
SET
SET
RST
RST
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UTAdvanced ladder program 20
Instruction step Symbol Function
Differential UP 1Activates a device only for one scan when an input signal changes from OFF to ON
Differential Down 1Activates a device only for one scan when an input signal changes from ON to OFF
Timer 4 Performs a synchronous backward timer action
Counter 3Performs a backward counter action
TIM
CNT
DIFU
DIFD
Timer, Counter: up to 4 nos for each instruction
Instruction (Basic Instruction 2/2)
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UTAdvanced ladder program 21
Instruction (Application Instructions 1/8)
Instruction step Symbol Function
= 4 Compare 2 integer, activates if the condition is =
<> 4 Compare 2 integer, activates if the condition is <>
> 4 Compare 2 integer, activates if the condition is >
< 4 Compare 2 integer, activates if the condition is <
>= 4 Compare 2 integer, activates if the condition is >=
<= 4 Compare 2 integer, activates if the condition is <=
>
<
>=
<=
=
<>
INT
INT
INT
INT
INT
INT
Comparison
Number less than decimal points is omitted and the both integers are compared.In comparison of all number including decimal point, the number must be multiplied using constant (C10, C100 etc) and execute comparison instruction.
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UTAdvanced ladder program 22
Instruction step Symbol Function
Addition4 Performs addition when an input signal is ON
4 Performs addition when an input signal changes from OFF to ON
Subtraction
4 Performs subtraction when an input signal is ON
4Performs Subtraction when an input signal changes from OFF to ON
Multiplication
4 Performs multiplication when an input signal is ON
4Performs multiplication when an input signal changes from OFF to ON.
Division4 Performs Division when an input signal is ON
4 Performs Division when an input signal changes from OFF to ON
+ =
+ =
- =
- =
* =
* =
/ =
/ =
Four Fundamental Arithmetic Operations
Register: floating-decimalWhen the calculation result is non-number or limited number, the ladder calculation will be over flow.
Instruction (Application Instructions 2/8)
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UTAdvanced ladder program 23
Instruction step Symbol Function
Square Root
Extraction
3 Performs square root extraction when an input signal is ON
3 Performs square root extraction when an input signal changes from OFF to ON
Absolute Value
3 Performs Absolute Value when an input signal is ON
3 Performs Absolute Value when an input signal changes from OFF to ON
SQR
SQR
ABS
ABS
Square Root Extraction, Absolute Value
Square root extraction is performed to input value (0-100%) normalized. Output (0-100%).Negative input value is 0%.
Instruction (Application Instructions 3/8)
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UTAdvanced ladder program 24
Instruction step Symbol Function
Logical AND
4 Executes logical AND when an input signal is ON
4Executes logical AND when an input signal changes from OFF to ON
Logical OR
4 Executes Logical OR when an input signal is ON
4 Executes Logical OR when an input signal changes from OFF to ON
Logical XOR
4 Executes Logical XOR when an input signal is ON
4Executes Logical XOR when an input signal changes from OFF to ON
Two’s
Complement
2Converts data to two’s complement when an input signal is ON
2Converts data to two’s complement when an input signal changes from OFF to ON
Not
2 Executes logical NOT when an input signal is ON
2Executes logical NOT when an input signal changes from OFF to ON
& =
& =
| =
| =
^| =
^ =
INT
INT
INT
INT
INT
INT
NEG
NEG
NOT
NOT
INT
INT
INT
INT
Logical computation
Data format: Status register (16 bit)
Instruction (Application Instructions 1/8)
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UTAdvanced ladder program 25
Instruction step Symbol Function
Right Rotate
3 Turns data to the right when an input signal is ON
3 Turns data to the right when an input signal changes from OFF to ON
Left Rotate
3 Turns data to the left when an input signal is ON
3 Turns data to the left when an input signal changes from OFF to ON
Right shift3 Shifts data to the right when an input signal is ON
3 Shifts data to the right when changes from OFF to ON
Left Shift 3 Shifts data to the left when an input signal is ON
3 Shifts data to the left when changes from OFF to ON
Shift register 3Shifts data to the right or left by 1 bit when an input signal changes from OFF to ON
RROT
RROT
LROT
LROT
RSFT
RSFT
LSFT
LSFT
SFT
INT
INT
INT
INT
INT
INT
INT
INT
INT
Rotate, Shift computation
Instruction (Application Instructions 5/8)
Data format: Status register (16 bit)
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UTAdvanced ladder program 26
Instruction step Symbol Function
Move
2 Moves data to a destination when an input signal is ON
2 Moves data to a destination when an input signal changes from OFF to ON
MOV
MOV
Move
Instruction step Symbol Function
BIN conversion
3 Converts data to binary data when an input signal is ON
3 Converts data to binary data when an input signal changes from OFF to ON
BCD
conversion
3 Converts data to BCD data when an input signal is ON
3Converts data to BCD data when an input signal changes from OFF to ON
BIN
BIN
BCD
BCD
INT
INT
INT
INT
BIN/BCD conversion
Instruction (Application Instructions 6/8)
Data format: D register/status register (16 bit)
Data format: D register/status register/DAT register
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UTAdvanced ladder program 27
Instruction step Symbol Function
High selector4 Selects a higher value when input signal is ON
4 Selects a higher value when input signal changes from OFF to ON
Low selector4 Selects a lower value when input signal is ON
4 Selects a lower value when input signal changes from OFF to ON
High limiter
4 Imposes a high limit when an input signal is ON
4 Imposes a high limit when an input signal changes from OFF to ON
Low limiter
4 Imposes a low limit when an input signal is ON
4 Imposes a low limit when an input signal changes from OFF to ON
Ratio
5 Calculates a ratio when an input signal is ON
5 Calculates a ratio when an input signal changes from OFF to ON
Temp compensation
5 Calculates a Temp compensation when an input signal is ON
5Calculates a Temp compensation when an input signal changes from OFF to ON
Pressure
compensation
5 Calculates a Pressure compensation when an input signal is ON
5Calculates Pressure compensation when an input signal changes from OFF to ON
HSL
LSL
HSL
LSL
HLM
LLM
HLM
LLM
RATIO
RATIO
PCMP1
PCMP1
TCMP1
TCMP1
Analog computation (1)
Instruction (Application Instructions 7/8)
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UTAdvanced ladder program 28
MAX
MAX
MIN
MIN
AVE
AVE
Instruction step Symbol Function
Scaring
5 Scale an input value when an input signal is ON
5 Scale an input value when an input signal changes from OFF to ON
Normalization
5 Normalizes an input value when an input signal is ON
5Normalizes an input value when an input signal changes from OFF to ON
Maximum value
7 Selects the maximum value when an input signal is ON
7 Selects the maximum value when an input signal OFF to ON
Minimum value
7 Selects the minimum value when an input signal is ON
7 Selects the minimum value when an input signal OFF to ON
Average
7 Selects the average value when an input signal is ON
7 Selects the average value when an input signal OFF to ON
SCAL
SCAL
NORM
NORM
Instruction (Application Instructions 8/8)
Analog computation (2)
Universal Temperature Controller
AAAAdvanced Control
SSSSimplicity
NNNNetworking
RRRReliability
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UT-AdvancedLadder SequenceProgram((((Advanced))))
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UTAdvanced ladder program 30
AL1 terminal (normal alarm output)
AL2 terminal (lamp blink in alarm)
AL3 terminal (buzzer output)
F1 Key: Buzzer stopF2 key: lamp test
Program Training 1: Annunciator function
۞ UTAdvanced alarm output is used for annunciator output
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UTAdvanced ladder program 31
۞ SET, RESET instruction (Hold alarm output)– Make a ladder program in user ladder sheet – Select from pallet. Locate it in 001 line and input [ALM_L1] in the name.– Select from pallet and locate it in the right end of 001 line. Input [M01_B]– In 002 line, write LD instruction as [F1_KEY] and RST instruction as [M01_B]– Left click on RST instruction and you can select E_RST with right click– If you make mistake, rewrite using Delete key and delete with right click– In deleting, release instruction selecting from pallet.
ALM_L1: Alarm 1 status of loop1 (1 in case of alarm1 ON) M01_B: Internal relay (holding type) lamp blink after power failure recovery F1_KEY: F1 key in UT-Adv front face
Program Training 1: Annunciator function
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UTAdvanced ladder program 32
۞ Or load circuit (flicker circuit, lamp test circuit)– 003 line: LD instruction [M01_B], AND LD instruction [CLK1],
Output instruction [Y_AL2]– 004 line: OR LD instruction [F2_KEY]
Write as the below figure using in palette
CLK1: 1 sec pulse
Program Training 1: Annunciator function
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UTAdvanced ladder program 33
۞ SET output circuit (Buzzer circuit)– 005 line: LD instruction [M01_B], output instruction [Y_AL3]
Program Training 1: Annunciator Function
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UTAdvanced ladder program 34
(a)
(b)
(c)
(d)
۞ PID parameter setting 1– Click “Set parameter” folder in file window (a)– Click “Operation parameter” (b)– Click ALRM_L1 and set alarm type as [1. PV high limit] (c)
Program Training 1: Annunciator Function
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UTAdvanced ladder program 35
(a)
(b)
Setting is finished.
Save the setting: Select [File]>[Save as] in menuFile name: annunciatorDownload setting to UTA: Select [Communication]>[all download]
Program Training 1: Annunciator Function
۞ PID parameter setting 2– Click SP_L1 (a)– Set “600.0” in A1 (alarm1 setting) (b)
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UTAdvanced ladder program 36
Program Training 1: Annunciator Function
AL1 terminal(normal alarm output)
AL2 terminal (lamp blink in alarm)
AL3 terminal(buzzer output)
UTA A/M: Set AUTO(MAN: No Lamp Off)
F1 key: Buzzer stopF2 key: lamp test
When PV is over 600 degC, D1 (light ON), D2 (blink), D3 (light on)
1. Set 650 deg C for SP of UTA
2. In operation mode, set 550 deg C for SP. In lower than PV 600 deg C, alarm annuciator status is kept;
Simulator D1: lamp off, D2: blink, D3: lamp on
3. After alarm off (D1 off), pressing F1 Key allows you to be all lamp off
(alarm annuciator release)
In pressing F2 key, it will be D2 lamp on (lamp test)
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UTAdvanced ladder program 37
1. Alarm 1 (ALM_L1) ON -->M01_B relay ON
(SET instruction)
2. Press F1 key --> M01_B relay OFF
(RST instruction)
3. AND circuit with M01_B and CLK1 allows to
flicker action of Y_AL2 relay
4. Press F2 key --> Y_AL2 relay ON (lamp test)
5. Interlocking with M01_B relay,
Y_AL3 relay is ON/OFF
The annunciator circuit is frequently used between many users.
If the flicker action is not needed, this action can be done using UT-Adv latch alarm action without ladder program
Program Training 1: Annunciator Function
Example Annunciator relay unit
۞ Check ladder operation in ladder monitoring
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UTAdvanced ladder program 38
DI1
RUN/STOPSTOP ���� ON
Even in RUN, once control by MAN
After t sec, MAN�AUTO
Control output
DI1
TIM1
(internal)
۞ After manual operation triggered by signal from stop to run,
it will switch to auto operation in some time (t sec).
۞ In starting of equipment, this avoids sudden output change; it protects the equipment.
Program Training 2: Start Circuit with Timer
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UTAdvanced ladder program 39
۞ Making ladder programming
Load the "default" file made in training 1. In Menu [file]�[open]
Program
001 line: LD NOT instruction [S.R], TIM instruction [CLK1, TIM1, P01]
002 line: Stack lead (TIM1 and OR) E_MOV instruction [C1, A.M]
003 line: LD instruction [TIM1], E_MOV instruction [C0, A.M]
004 line: LD NOT instruction [TIM1], MOV instrction [MOUT_L1]
S.R: I relay, RUN/STOP status (STOP:1)
CLK1: 1 sec pulse
A.M : D register, A/M status (MAN:1)
MOUT_L1: D register control output in manual mode
Program Training 2: Start Circuit with Timer
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UTAdvanced ladder program 40
۞ Parameter setting (1)– Click “Set parameter” (a)
– Click “operation parameter” (b)
– Click “PPAR” (c)
– P1D, P01: select [0:#####]
– P01, P02: Input [10] (e)
(a)
(b)
(c) (d)
(e)
Program Training 2: Start Circuit with Timer
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UTAdvanced ladder program 41
(b)
(a)
(c)
۞ Parameter setting (2)– Click setup parameters (a)
– Click [DISL] (b)
– S/R (RUN/STOP switching) Input [X_DI1]
Setting is finished.Save the setting: Select [File]>[Save as] in menu Download setting to UTA:Select [Communication] >[all download]
Program Training 2: Start Circuit with Timer
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UTAdvanced ladder program 42
OUT displayOUT display
1. Press [DISPLAY] key and display control output on the unitUse AUTO mode for A/M
2. In SW1 (DI1) ON, it will be STOP; output will be 0 %.
3. In SW1 (DI1) OFF, it will switch to RUN mode and MAN mode
MAN mode is kept for 10 sec and then it will be AUTO mode.
Control output
DI1
TIM1
(internal)
Program Training 2: Start Circuit with Timer
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UTAdvanced ladder program 43
1. When S.R (RUN/STOP) status is RUN, TIM1 will start and 1 (MAN) will be transferred to A.M register
2. After TIM1 is finished (P01: 10sec), 0 (AUTO) will be transferred to A.M register
3. During TIM counting (MAN operation), control output P02 (10%) is transferred to MOUT_L1 register (Manual operation)
0/1 data is written to "D register", not to "I relay" for A/M stitching:
A/M key operation will be available during timer counting
۞ Ladder Program Monitoring
– In ladder program monitoring menu, you can display timer value selecting [Monitor]�[detail display] in the menu.
Program Training 2: Start Circuit with Timer
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